CN115306253B - Vehicle door opening avoidance method, system and storage medium - Google Patents
Vehicle door opening avoidance method, system and storage medium Download PDFInfo
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- CN115306253B CN115306253B CN202210867141.8A CN202210867141A CN115306253B CN 115306253 B CN115306253 B CN 115306253B CN 202210867141 A CN202210867141 A CN 202210867141A CN 115306253 B CN115306253 B CN 115306253B
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/77—Power-operated mechanisms for wings with automatic actuation using wireless control
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a vehicle door opening avoidance method, a vehicle door opening avoidance system and a storage medium, wherein the vehicle door opening avoidance method comprises the following steps: acquiring an initial transverse distance value between a vehicle to be opened and a vehicle to be avoided; acquiring the door opening angle information of the vehicle to be opened according to the initial transverse distance value; controlling a vehicle controller to execute a corresponding opening angle of the vehicle to be opened according to the opening angle information of the vehicle door; therefore, the vehicle door can be opened at a certain angle when a driver comes from the rear, and the driver and the passengers can still be allowed to get off the vehicle, so that the flexibility of intelligent driving is improved.
Description
Technical Field
The invention relates to the field of intelligent driving safety, in particular to a vehicle door opening avoidance method, a vehicle door opening avoidance system and a storage medium.
Background
When the vehicles come to the side to park on the road, because of complex road traffic and large number of vehicles, other vehicles pass through parking areas with parking vehicles around the vehicles to be opened; after a driver parks by the side, whether the vehicle door is opened or not can be determined by observing road conditions, and the vehicle door is opened without observing the road conditions carelessly by the driver, so that the vehicle door collides with other vehicles and scratches, and even the life safety of the driver and other motorcycles, electric vehicles and bicycle drivers can be endangered when serious.
In the prior art, an alarm signal is generally sent when a sensor of a vehicle to be opened detects that a collision risk exists in an opening vehicle door, but in actual situations, before the opening of the vehicle door of the vehicle to be opened, when the opening of the vehicle door of the vehicle to be opened cannot be performed or continuously alarm due to the fact that vehicles come and go behind, the situation that the vehicle door of the vehicle to be opened can be opened at a certain angle exists in the actual vehicle to be opened, and a driver or a passenger can still be allowed to get off the vehicle. Therefore, in this case, how to open the door at a certain angle according to the distance between the two vehicles is a problem to be solved.
Disclosure of Invention
The invention provides a vehicle door opening avoidance method, a vehicle door opening avoidance system and a storage medium, which can open a vehicle door at a certain angle when a vehicle arrives at the rear, still can allow drivers to get off, and improves the flexibility of intelligent driving.
In a first aspect, a method for avoiding opening of a vehicle door is provided, including the following steps:
acquiring an initial transverse distance value between a vehicle to be opened and a vehicle to be avoided;
acquiring door opening angle information of a vehicle to be opened according to the initial transverse distance value;
and controlling the vehicle controller to execute the corresponding opening angle of the vehicle door of the vehicle to be opened according to the opening angle information of the vehicle door.
According to the first aspect, in a first possible implementation manner of the first aspect, the step of acquiring door opening angle information of the vehicle to be opened according to the initial lateral distance value specifically includes the following steps:
according to the initial transverse distance value, a safe driving distance value between the vehicle to be opened and the vehicle to be avoided is obtained, and a critical transverse distance value of the vehicle door after the vehicle door of the vehicle to be opened is obtained;
and acquiring door opening angle information of the vehicle to be opened according to the critical transverse distance value of the vehicle door, the maximum transverse distance value of the vehicle door after the vehicle door to be opened is completely opened and the length value of the vehicle door when the vehicle door to be opened is not opened.
According to a first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the step of acquiring door opening angle information of the vehicle to be opened according to the door critical lateral distance value, a door maximum lateral distance value after the vehicle door to be opened is completely opened, and a door length value when the vehicle door to be opened is not opened specifically includes the following steps:
when the critical transverse distance value of the vehicle door is smaller than or equal to zero, acquiring the opening angle value of the vehicle door of the vehicle to be opened to be zero;
when the critical transverse distance value of the vehicle door is larger than zero and smaller than the maximum transverse distance value of the vehicle door, acquiring a vehicle door opening angle value of the vehicle to be opened according to the critical transverse distance value of the vehicle door and the length value of the vehicle door;
and when the critical transverse distance value of the vehicle door is larger than the maximum transverse distance value of the vehicle door, acquiring the opening angle value of the vehicle door of the vehicle to be opened as the maximum opening angle value of the vehicle door of the vehicle to be opened.
In a third possible implementation manner of the first aspect, the step of acquiring the door opening angle value of the vehicle to be opened according to the door critical lateral distance value and the door length value when the door critical lateral distance value is greater than zero and less than the door maximum lateral distance value specifically includes the following steps:
when the critical transverse distance value of the vehicle door is larger than zero and smaller than the maximum transverse distance value of the vehicle door;
according to the critical transverse distance value S0 and the length value L0 of the vehicle door, acquiring a door opening angle value alpha of the vehicle to be opened through an inverse trigonometric function:
in a fourth possible implementation manner of the first aspect, after the step of obtaining the door opening angle information of the vehicle to be opened according to the initial lateral distance value, the method specifically includes the following steps:
and controlling the vehicle to be opened to send out prompt alarm information according to the door opening angle information.
According to a fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, after the step of controlling the vehicle body controller to execute the door opening corresponding angle of the vehicle to be opened according to the door opening angle information, the method specifically includes the following steps:
acquiring an outer end transverse distance value between a vehicle to be avoided and an outermost end point of opening a vehicle door of the vehicle to be opened;
according to the outer end transverse distance value and a safe driving distance value between the vehicle to be opened and the vehicle to be avoided, obtaining the borrowing distance information of the vehicle to be avoided, which needs to borrow the vehicle to the adjacent road;
and controlling the vehicle controller to be avoided to execute the road borrowing operation of the vehicle to be avoided according to the road borrowing distance information.
According to a fifth possible implementation manner of the first aspect, in a sixth possible implementation manner of the first aspect, the step of obtaining the borrowing distance information of the vehicle to be avoided, which needs to borrow the vehicle to the adjacent road, specifically includes the following steps:
when the outer end transverse distance value is larger than or equal to the safe driving distance value, the road borrowing distance value that the vehicle to be avoided needs to borrow the road to the adjacent road is zero;
when the outer end transverse distance value L is smaller than the safe driving distance value D0, the vehicle to be avoided needs to borrow the road to the adjacent road by the road borrowing distance value S1:
s1=d0-L formula (two);
and acquiring a width distance value of the adjacent road, and controlling the vehicle to be avoided to brake when the width distance value of the adjacent road is smaller than the road borrowing distance and the vehicle to be avoided cannot borrow the road to the adjacent road.
In a second aspect, there is provided a door opening avoidance system comprising:
the initial transverse distance value acquisition module is used for acquiring an initial transverse distance value between the vehicle to be opened and the vehicle to be avoided;
the vehicle door opening angle information acquisition module is in communication connection with the initial transverse distance value acquisition module and is used for acquiring the vehicle door opening angle information of the vehicle to be opened according to the initial transverse distance value; the method comprises the steps of,
and the execution door opening module is in communication connection with the door opening angle information acquisition module and is used for controlling the vehicle controller to be opened to execute the corresponding door opening angle of the vehicle to be opened according to the door opening angle information.
In a first possible implementation manner of the second aspect according to the second aspect, the method includes:
the outer end transverse distance value acquisition module is in communication connection with the execution vehicle door opening module and is used for acquiring an outer end transverse distance value between a vehicle to be avoided and an outermost end point of opening a vehicle door of the vehicle to be opened;
the borrowing path distance information acquisition module is in communication connection with the outer end transverse distance value acquisition module and is used for acquiring borrowing path distance information of the vehicle to be avoided, which needs to borrow a path to an adjacent path, according to the outer end transverse distance value and a safe driving distance value between the vehicle to be opened and the vehicle to be avoided; the method comprises the steps of,
and the execution channel borrowing module is in communication connection with the channel borrowing distance information acquisition module and is used for controlling the vehicle controller to be avoided to execute channel borrowing operation of the vehicle to be avoided according to the channel borrowing distance information.
Compared with the prior art, the invention has the following advantages: before the door of the vehicle to be opened is opened, when the door of the vehicle to be opened cannot be opened or continuously alarm due to the vehicles coming and going from the rear, the door of the vehicle to be opened can be opened at a certain angle in the actual vehicle to be opened, and a driver or a passenger can still be allowed to get off the vehicle; therefore, the method firstly obtains the initial transverse distance value between the vehicle to be opened and the vehicle to be avoided; acquiring the door opening angle information of the vehicle to be opened according to the initial transverse distance value; and controlling the vehicle controller to execute the corresponding opening angle of the vehicle door of the vehicle to be opened according to the opening angle information of the vehicle door.
Therefore, by controlling the vehicle controller to be opened to execute the corresponding opening angle of the vehicle to be opened according to the opening angle information of the vehicle door, the vehicle door can be opened at a certain angle according to the distance between two vehicles, the potential safety hazard brought by a driver with parking after forcibly opening the vehicle door can be reduced, and meanwhile, even if the driver has an incoming vehicle at the rear, the condition of opening the vehicle door at a certain angle can still allow the driver to get off the vehicle, so that the flexibility of intelligent driving is improved.
Drawings
FIG. 1 is a flow chart of an embodiment of a door opening override method of the present invention;
FIG. 2 is a flow chart of yet another embodiment of a door opening override method of the present invention;
FIG. 3 is a schematic diagram of door opening angle values of a vehicle to be opened according to the present invention;
fig. 4 is a schematic structural view of a door opening avoidance system according to the present invention.
Description of the drawings:
100. the vehicle door is opened to avoid the system; 110. an initial transverse distance value acquisition module; 120. the vehicle door opening angle information acquisition module; 130. executing a vehicle door opening module; 140. the outer end transverse distance value acquisition module; 150. a borrowing distance information acquisition module; 160. and executing the channel borrowing module.
Detailed Description
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the specific embodiments, it will be understood that they are not intended to limit the invention to the described embodiments. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein may be implemented by any functional block or arrangement of functions, and any functional block or arrangement of functions may be implemented as a physical entity or a logical entity, or a combination of both.
The present invention will be described in further detail below with reference to the drawings and detailed description for the purpose of enabling those skilled in the art to understand the invention better.
Note that: the examples to be described below are only one specific example, and not as limiting the embodiments of the present invention necessarily to the following specific steps, values, conditions, data, sequences, etc. Those skilled in the art can, upon reading the present specification, make and use the concepts of the invention to construct further embodiments not mentioned in the specification.
Referring to fig. 1, an embodiment of the present invention provides a vehicle door opening avoidance method, including the following steps:
s100, acquiring an initial transverse distance value between a vehicle to be opened and a vehicle to be avoided;
s200, acquiring door opening angle information of a vehicle to be opened according to the initial transverse distance value;
and S300, controlling a vehicle controller to be opened to execute the corresponding opening angle of the vehicle door of the vehicle to be opened according to the opening angle information of the vehicle door.
Specifically, in this embodiment, as shown in fig. 1, before the door of the vehicle to be opened is opened, when the door of the vehicle to be opened cannot be opened or is continuously alarmed due to the passing vehicle behind, the door of the vehicle to be opened is actually opened at a certain angle, and still the driver or the passenger can be allowed to get off the vehicle; therefore, the method firstly obtains the initial transverse distance value between the vehicle to be opened and the vehicle to be avoided; acquiring the door opening angle information of the vehicle to be opened according to the initial transverse distance value; and controlling the vehicle controller to execute the corresponding opening angle of the vehicle door of the vehicle to be opened according to the opening angle information of the vehicle door.
Therefore, by controlling the vehicle controller to be opened to execute the corresponding opening angle of the vehicle to be opened according to the opening angle information of the vehicle door, the vehicle door can be opened at a certain angle according to the distance between two vehicles, the potential safety hazard brought by a driver with parking after forcibly opening the vehicle door can be reduced, and meanwhile, even if the driver has an incoming vehicle at the rear, the condition of opening the vehicle door at a certain angle can still allow the driver to get off the vehicle, so that the flexibility of intelligent driving is improved.
It should be noted that the implementation of the technology of the present invention is to communicate by V2X (Vehicle to Everything) internet of vehicles, including V2V (vehicle-to-vehicle communication) and V2I (vehicle-to-road side unit communication). If the vehicle to be avoided is carried with the internet of vehicles technology, the vehicle to be avoided informs the information of the side rear of the vehicle to be opened to be stopped through the V2V technology, if the vehicle to be avoided is not carried with the internet of vehicles technology, the roadside RSU informs the vehicle to be opened to be passed through the information of the side rear of the vehicle to be stopped through the V2I, and signals sent by the vehicle to be avoided and the RSU comprise key information such as the transverse and longitudinal position coordinates of the vehicle to be avoided, the width of the vehicle body and the like.
The operation subject of the present invention is an ADAS system (advanced driving assistance system): various sensors (millimeter wave radar, laser radar, single/double camera and satellite navigation) arranged on a vehicle are utilized to sense surrounding environment at any time in the running process of the vehicle, data are collected, static and dynamic object identification, detection and tracking are carried out, and navigation map data are combined to carry out systematic operation and analysis, so that a driver can perceive possible danger in advance, and the comfort and safety of driving of the vehicle are effectively increased.
The vehicle with avoidance can be a networked automobile, a motorcycle, an electric vehicle, a bicycle, a pedestrian and the like. Preferably, in another embodiment of the present application, referring to fig. 2, the step of "S200, according to the initial lateral distance value, obtaining door opening angle information of the vehicle to be opened" specifically includes the following steps:
s210, acquiring a critical lateral distance value S0 of a door of the vehicle to be opened after the door of the vehicle to be opened is opened according to the initial lateral distance value D1 and a safe driving distance value D0 between the vehicle to be opened and the vehicle to be avoided;
specifically s0=d1-D0;
s220, acquiring door opening angle information alpha of the vehicle to be opened according to the threshold transverse distance value S0 of the vehicle door, the maximum transverse distance value S2 of the vehicle door after the vehicle door to be opened is completely opened, and the door length value L0 of the vehicle door to be opened when the vehicle door to be opened is not opened.
Specifically, in this embodiment, in order not to bring dangerous driving experiences to occupants in two vehicles, the lateral distance (safe driving distance value) of the safe driving feeling between the two vehicles should be taken into consideration when calculating the door angle at which the vehicle to be opened is allowed to open. Such as: the transverse distance between the outermost edges of the two vehicles is 0.8m currently, and considering that the safety driving feeling is required to be brought to the passengers in the vehicles, the minimum transverse distance between the two vehicles is required to be kept to be 0.3m, the transverse width allowed to be occupied by the self-vehicle door after the self-vehicle door is opened is 0.5m, namely the critical transverse distance value S0 of the vehicle door after the vehicle door to be opened is 0.5m.
Preferably, in another embodiment of the present application, the step of obtaining the door opening angle information of the vehicle to be opened according to the door critical lateral distance value, the door maximum lateral distance value after the vehicle door to be opened is completely opened, and the door length value when the vehicle door to be opened is not opened specifically includes the following steps:
s221, when the threshold transverse distance value S0 of the vehicle door is smaller than or equal to zero, acquiring the opening angle value of the vehicle door of the vehicle to be opened to be zero;
s222, when the threshold lateral distance value S0 of the vehicle door is larger than zero and smaller than the maximum lateral distance value S2 of the vehicle door, acquiring a door opening angle value alpha of the vehicle to be opened according to the threshold lateral distance value S0 of the vehicle door and the length value L0 of the vehicle door;
and S223, when the threshold transverse distance value S0 of the vehicle door is larger than the maximum transverse distance value S2 of the vehicle door, acquiring the opening angle value alpha of the vehicle door of the vehicle to be opened as the maximum opening angle value of the vehicle door of the vehicle to be opened.
Preferably, in another embodiment of the present application, referring to fig. 3, when the door critical lateral distance value is greater than zero and less than the door maximum lateral distance value, according to the door critical lateral distance value and the door length value, the step of obtaining the door opening angle value of the vehicle to be opened specifically includes the following steps:
when the critical transverse distance value of the vehicle door is larger than zero and smaller than the maximum transverse distance value of the vehicle door;
according to the critical transverse distance value S0 and the length value L0 of the vehicle door, acquiring a door opening angle value alpha of the vehicle to be opened through an inverse trigonometric function:
preferably, in another embodiment of the present application, after the step of obtaining the door opening angle information of the vehicle to be opened according to the initial lateral distance value, the step of S200 specifically includes the following steps:
and controlling the vehicle to be opened to send out prompt alarm information according to the door opening angle information.
Specifically, in this embodiment, when the door opening angle value of the vehicle to be opened is zero, the door is not allowed to be opened at this time, and the door is prohibited to be opened along with a primary alarm and text/voice prompt that "collision risk is detected in the rear side". The opening angle value of the door of the vehicle to be opened is alpha, and the vehicle is provided with a second-level alarm and a text and voice prompt to remind that the object passes behind, so that the driver can pay attention to safety after getting off the vehicle. The door opening angle value of the vehicle to be opened is the maximum door opening angle value of the vehicle to be opened, and the door can be opened freely, but still prompts drivers to pay attention to the coming vehicle behind after getting off.
Referring to fig. 1, preferably, in another embodiment of the present application, after the step of controlling the vehicle body controller to execute the door opening corresponding angle of the vehicle to be opened according to the door opening angle information, the method specifically includes the following steps:
s400, acquiring an outer end transverse distance value between a vehicle to be avoided and an outermost end point of opening a vehicle door of the vehicle to be opened;
s500, obtaining the borrowing distance information of the vehicle to be avoided, which needs to borrow the road to the adjacent road, according to the outer end transverse distance value and the safe driving distance value between the vehicle to be opened and the vehicle to be avoided;
and S600, controlling the vehicle controller to be avoided to execute the road borrowing operation of the vehicle to be avoided according to the road borrowing distance information.
Specifically, in this embodiment, as well, the operation main body is an ADAS system, after the door of the vehicle to be opened is opened by a corresponding angle, in order to avoid the risk of collision between the vehicle to be avoided and the vehicle to be opened when passing through the vehicle to be opened, the information of the borrowing distance of the vehicle to be avoided to the adjacent road can be obtained according to the outer end lateral distance value between the vehicle to be avoided and the outermost end point of the opening of the door of the vehicle to be opened and the safe driving distance value between the vehicle to be opened and the vehicle to be avoided; therefore, through the operation, the driving operation basis information can be provided for the drivers and the passengers of the vehicle to be opened and the passengers with avoidance, and the safety performance of intelligent driving is improved.
Preferably, in another embodiment of the present application, step S500 of obtaining the borrowing distance information that the vehicle to be avoided needs to borrow into the adjacent road according to the outer end lateral distance value and the safe driving distance value between the vehicle to be opened and the vehicle to be avoided specifically includes the following steps:
when the outer end transverse distance value L is greater than or equal to the safe driving distance value D, the borrowing distance value S1 that the vehicle to be avoided needs to borrow the road to the adjacent road is zero;
when the outer end transverse distance value L is smaller than the safe driving distance value D0, the vehicle to be avoided needs to borrow the road to the adjacent road by the road borrowing distance value S1:
s1=d0-L formula (two);
and acquiring a width distance value of the adjacent channel, and when the width distance value of the adjacent channel is smaller than the channel borrowing distance, failing to borrow the vehicle to be avoided to the adjacent channel, and controlling the channel borrowing distance value of the vehicle to be avoided to be zero when the vehicle to be avoided needs to borrow the channel to the adjacent channel to brake.
Specifically, in this embodiment, when the outer end lateral distance value is greater than or equal to the safe driving distance value, the road borrowing distance value that the vehicle to be avoided needs to borrow the road to the adjacent road is zero, that is, the vehicle to be avoided and the vehicle to be opened do not have collision risk, and the vehicle to be avoided and the vehicle to be opened can normally pass through. And when the outer end transverse distance value L is smaller than the safe driving distance value D0 and the adjacent road width distance value is larger than the road borrowing distance, the vehicle to be avoided needs to borrow the road borrowing distance value S1=D0-L of the adjacent road. When the width distance value of the adjacent road is smaller than the road borrowing distance, the road borrowing distance value of the vehicle to be avoided, which needs to borrow the road to the adjacent road, is zero, namely, the vehicle to be avoided collides with the vehicle to be opened no matter how the vehicle to be avoided borrows the road, and the vehicle to be avoided normally passes after the collision risk between the vehicle to be avoided and the vehicle to be opened is eliminated.
Referring also to fig. 4, an embodiment of the present invention further provides a door opening avoidance system 100, including:
an initial lateral distance value obtaining module 110, configured to obtain an initial lateral distance value between a vehicle to be opened and a vehicle to be avoided;
the door opening angle information obtaining module 120 is in communication connection with the initial lateral distance value obtaining module 110, and is configured to obtain door opening angle information of a vehicle to be opened according to the initial lateral distance value; the method comprises the steps of,
and the execution door opening module 130 is in communication connection with the door opening angle information acquisition module 120, and is used for controlling the vehicle controller to be opened to execute the corresponding door opening angle of the vehicle to be opened according to the door opening angle information.
Further comprises:
the outer end transverse distance value obtaining module 140 is in communication connection with the vehicle door opening executing module 130, and is used for obtaining an outer end transverse distance value between the vehicle to be avoided and an outermost end point of opening the vehicle door of the vehicle to be opened;
the borrowing distance information obtaining module 150 is in communication connection with the outer end transverse distance value obtaining module 140, and is used for obtaining borrowing distance information of the vehicle to be avoided, which needs to borrow the road to the adjacent road, according to the outer end transverse distance value and the safe driving distance value between the vehicle to be opened and the vehicle to be avoided; the method comprises the steps of,
the execution borrowing module 160 is in communication connection with the borrowing distance information acquisition module 150, and is configured to control the vehicle controller to be avoided to execute a borrowing operation of the vehicle to be avoided according to the borrowing distance information.
Before the door of the vehicle to be opened is opened, when the door of the vehicle to be opened cannot be opened or continuously alarm due to the vehicles coming and going from the rear, the door of the vehicle to be opened can be opened at a certain angle in the actual vehicle to be opened, and a driver or a passenger can still be allowed to get off the vehicle; therefore, the method firstly obtains the initial transverse distance value between the vehicle to be opened and the vehicle to be avoided; acquiring the door opening angle information of the vehicle to be opened according to the initial transverse distance value; and controlling the vehicle controller to execute the corresponding opening angle of the vehicle door of the vehicle to be opened according to the opening angle information of the vehicle door. Therefore, by controlling the vehicle controller to be opened to execute the corresponding opening angle of the vehicle to be opened according to the opening angle information of the vehicle door, the vehicle door can be opened at a certain angle according to the distance between two vehicles, the potential safety hazard brought by a driver with parking after forcibly opening the vehicle door can be reduced, and meanwhile, even if the driver has an incoming vehicle at the rear, the condition of opening the vehicle door at a certain angle can still allow the driver to get off the vehicle, so that the flexibility of intelligent driving is improved.
Meanwhile, after the vehicle door of the vehicle to be opened is opened by a corresponding angle, in order to avoid collision danger between the vehicle to be avoided and the vehicle to be opened when passing through the vehicle to be opened, the information of the borrowing distance of the vehicle to be avoided to the adjacent road can be obtained according to the outer end transverse distance value between the vehicle to be avoided and the extreme outer end point of the opening of the vehicle door of the vehicle to be opened and the safe driving distance value between the vehicle to be opened and the vehicle to be avoided; therefore, through the operation, the driving operation basis information can be provided for the drivers and the passengers to be avoided of the vehicle to be opened, and the safety performance of intelligent driving is improved.
Specifically, the present embodiment corresponds to the foregoing method embodiments one by one, and the functions of each module are described in detail in the corresponding method embodiments, so that a detailed description is not given.
Based on the same inventive concept, the embodiments of the present application also provide a computer-readable storage medium, on which a computer program is stored, which when executed by a processor implements all or part of the method steps of the above method.
The present invention may be implemented by implementing all or part of the above-described method flow, or by instructing the relevant hardware by a computer program, which may be stored in a computer readable storage medium, and which when executed by a processor, may implement the steps of the above-described method embodiments. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, executable files or in some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the content of the computer readable medium can be appropriately increased or decreased according to the requirements of the jurisdiction's jurisdiction and the patent practice, for example, in some jurisdictions, the computer readable medium does not include electrical carrier signals and telecommunication signals according to the jurisdiction and the patent practice.
Based on the same inventive concept, the embodiments of the present application further provide an electronic device, including a memory and a processor, where the memory stores a computer program running on the processor, and when the processor executes the computer program, the processor implements all or part of the method steps in the above method.
The processor may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being a control center of the computer device, and the various interfaces and lines connecting the various parts of the overall computer device.
The memory may be used to store computer programs and/or modules, and the processor implements various functions of the computer device by running or executing the computer programs and/or modules stored in the memory, and invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function (e.g., a sound playing function, an image playing function, etc.); the storage data area may store data (e.g., audio data, video data, etc.) created according to the use of the handset. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (8)
1. The vehicle door opening avoiding method is characterized by comprising the following steps of:
acquiring an initial transverse distance value between a vehicle to be opened and a vehicle to be avoided;
acquiring door opening angle information of a vehicle to be opened according to the initial transverse distance value;
according to the door opening angle information, controlling a vehicle controller to be opened to execute a corresponding door opening angle of the vehicle to be opened;
after the step of controlling the vehicle body controller to execute the corresponding opening angle of the vehicle to be opened according to the opening angle information of the vehicle door, the method specifically comprises the following steps:
acquiring an outer end transverse distance value between a vehicle to be avoided and an outermost end point of opening a vehicle door of the vehicle to be opened;
according to the outer end transverse distance value and a safe driving distance value between the vehicle to be opened and the vehicle to be avoided, obtaining the borrowing distance information of the vehicle to be avoided, which needs to borrow the vehicle to the adjacent road;
and controlling the vehicle controller to be avoided to execute the road borrowing operation of the vehicle to be avoided according to the road borrowing distance information.
2. The door opening avoidance method according to claim 1, wherein the step of acquiring door opening angle information of the vehicle to be opened according to the initial lateral distance value includes the steps of:
according to the initial transverse distance value, a safe driving distance value between the vehicle to be opened and the vehicle to be avoided is obtained, and a critical transverse distance value of the vehicle door after the vehicle door of the vehicle to be opened is obtained;
and acquiring door opening angle information of the vehicle to be opened according to the critical transverse distance value of the vehicle door, the maximum transverse distance value of the vehicle door after the vehicle door to be opened is completely opened and the length value of the vehicle door when the vehicle door to be opened is not opened.
3. The door opening avoidance method according to claim 2, wherein the step of acquiring door opening angle information of the vehicle to be opened according to the door critical lateral distance value, the door maximum lateral distance value after the vehicle door to be opened is completely opened, and the door length value when the vehicle door to be opened is not opened, specifically comprises the steps of:
when the critical transverse distance value of the vehicle door is smaller than or equal to zero, acquiring the opening angle value of the vehicle door of the vehicle to be opened to be zero;
when the critical transverse distance value of the vehicle door is larger than zero and smaller than the maximum transverse distance value of the vehicle door, acquiring a vehicle door opening angle value of the vehicle to be opened according to the critical transverse distance value of the vehicle door and the length value of the vehicle door;
and when the critical transverse distance value of the vehicle door is larger than the maximum transverse distance value of the vehicle door, acquiring the opening angle value of the vehicle door of the vehicle to be opened as the maximum opening angle value of the vehicle door of the vehicle to be opened.
4. The door opening avoidance method of claim 3, wherein the step of obtaining a door opening angle value of a vehicle to be opened when the door critical lateral distance value is greater than zero and less than the door maximum lateral distance value according to the door critical lateral distance value and the door length value comprises the steps of:
when the critical transverse distance value of the vehicle door is larger than zero and smaller than the maximum transverse distance value of the vehicle door;
according to the critical transverse distance value S0 and the length value L0 of the vehicle door, acquiring a door opening angle value alpha of the vehicle to be opened through an inverse trigonometric function:
5. the door opening avoidance method according to claim 1, wherein after the step of acquiring door opening angle information of the vehicle to be opened according to the initial lateral distance value, specifically comprising the steps of:
and controlling the vehicle to be opened to send out prompt alarm information according to the door opening angle information.
6. The vehicle door opening avoidance method according to claim 1, wherein the step of acquiring the borrowing distance information of the vehicle to be avoided, which is required to borrow the vehicle to the adjacent road, according to the outer end lateral distance value and the safe driving distance value between the vehicle to be opened and the vehicle to be avoided, specifically comprises the following steps:
when the outer end transverse distance value is larger than or equal to the safe driving distance value, the road borrowing distance value that the vehicle to be avoided needs to borrow the road to the adjacent road is zero;
when the outer end transverse distance value L is smaller than the safe driving distance value D0, the vehicle to be avoided needs to borrow the road to the adjacent road by the road borrowing distance value S1:
s1=d0-L formula (two);
and acquiring a width distance value of the adjacent road, and controlling the vehicle to be avoided to brake when the width distance value of the adjacent road is smaller than the road borrowing distance and the vehicle to be avoided cannot borrow the road to the adjacent road.
7. A door opening avoidance system, comprising:
the initial transverse distance value acquisition module is used for acquiring an initial transverse distance value between the vehicle to be opened and the vehicle to be avoided;
the vehicle door opening angle information acquisition module is in communication connection with the initial transverse distance value acquisition module and is used for acquiring the vehicle door opening angle information of the vehicle to be opened according to the initial transverse distance value; the method comprises the steps of,
the execution door opening module is in communication connection with the door opening angle information acquisition module and is used for controlling a vehicle controller to be opened to execute a corresponding door opening angle of a vehicle to be opened according to the door opening angle information;
the outer end transverse distance value acquisition module is in communication connection with the execution vehicle door opening module and is used for acquiring an outer end transverse distance value between a vehicle to be avoided and an outermost end point of opening a vehicle door of the vehicle to be opened;
the borrowing path distance information acquisition module is in communication connection with the outer end transverse distance value acquisition module and is used for acquiring borrowing path distance information of the vehicle to be avoided, which needs to borrow a path to an adjacent path, according to the outer end transverse distance value and a safe driving distance value between the vehicle to be opened and the vehicle to be avoided; the method comprises the steps of,
and the execution channel borrowing module is in communication connection with the channel borrowing distance information acquisition module and is used for controlling the vehicle controller to be avoided to execute channel borrowing operation of the vehicle to be avoided according to the channel borrowing distance information.
8. A storage medium having stored thereon a computer program which, when executed by a processor, implements the door opening avoidance method according to any one of claims 1 to 6.
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| JP5218578B2 (en) * | 2011-02-14 | 2013-06-26 | トヨタ自動車株式会社 | Parking assistance device |
| JP2015148074A (en) * | 2014-02-06 | 2015-08-20 | アイシン精機株式会社 | Open/close body control method and device |
| KR101759192B1 (en) * | 2016-01-19 | 2017-07-18 | 동명대학교산학협력단 | Active vehicle window safety device |
| JP6627610B2 (en) * | 2016-03-30 | 2020-01-08 | アイシン精機株式会社 | Door opening restriction device and vehicle door opening operation control method |
| CN108909618A (en) * | 2018-07-03 | 2018-11-30 | 陕西科技大学 | A kind of anti-side crash device of opening door of vehicle and application method |
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